(Adaptive hybrid attitude-feedback controller):
The proposed 4-DOF Lagrangian dynamics facilitates achieving the global asymptotic stability of the equilibrium \(e = 0_{4\times 1}\) , \(\dot{e} = 0_{4\times 1}\)  in overall system under the adaptive attitude-feedback control law (REF ), and results in a relative simpler design as compared to other adaptive attitude controllers
[1]}, [2]}, [3]}, [4]}, [5]}, [6]}, [7]}. Moreover, by leveraging the nonlinear filter (), the requirement of the angular velocity measurements is not needed in the proposed adaptive controller.
